• 대한교통학회지
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• 제25권2호
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• pp.63-72
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• 2007

본 연구의 목적은 신호교차로의 교통사고 심각성을 인식하고, 교통사고의 특성분석과 관련변수와의 상관분석 및 사고추정모형을 개발하는 것이다. 이러한 목적하에 본 연구에서는 2004년도 청주시 총 교통사고건수 3,115건 중 1,183건이 발생한 4지 신호교차로 전체(181개소)를 대상으로 하였다. 신호교차로 사고에 영향을 줄 것으로 판단되는 ADT, 교차로 면적, 평균차로폭 및 종단경사 등 독립변수들과 교통사고건수, 교통사고율(MEV) 및 EPDO를 종속변수로 선정하여, 상관분석 및 다중회귀분석을 통해 추정모형을 개발하였다. 모형개발 결과, 교통사고건수의 경우 ADT 등 5개의 변수가 주요 요인으로 분석되었으며($R^2=0.612$), 교통사고율(MEV)의 경우 교차로면적 등 5개 변수가 주요 요인으로 분석되었다($R^2=0.304$). 또한 신호교차로 교통사고의 심각성 및 특성분석이라는 본 연구의 목적에 가장 부합되는 EPDO의 경우는 ADT, 주도로 평균차로폭, 상향종단경사, 제한속도 차 등 4개 변수가 주요 요인으로 분석되었다($R^2=0.559$)

• 방송공학회논문지
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• 제22권4호
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• pp.448-461
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• 2017

본 논문에서는 교통관제용 CCTV로부터 촬영된 영상에서 교통 상황 분석을 위해 차량의 통행량 및 통행 속도를 획득하는 방법을 제안한다. 제안하는 방법은 촬영된 영상에 역 투영 사상(IPM, Inverse Perspective Mapping) 방법을 이용하여 카메라 각도에 따른 시각적 관점에서 기인한 왜곡을 제거하고, 차선 검출 알고리즘을 통해 1) 차량 통행량, 2) 차량 통행 속도를 측정할 소정 영역을 획득한다. 소정 영역에 대하여 광류(Optical flow) 기반 모션 추정을 이용하여 차량 통행량 및 통행 속도를 획득한다. 본 논문에서 제안한 방법을 지역별 다양한 CCTV 영상인 총 106,993 프레임, 약 세 시간 길이의 영상에 적용하여 88.94%의 검출 성능을 얻을 수 있었다.

• 한국도로학회논문집
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• 제18권5호
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• pp.117-125
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• 2016

PURPOSES : The density in uninterrupted traffic flow facilities plays an important role in representing the current status of traffic flow. For example, the density is used for the primary measures of effectiveness in the capacity analysis for freeway facilities. Therefore, the estimation of density has been a long and tough task for traffic engineers for a long time. This study was initiated to evaluate the performance of density values that were estimated using VDS data and two traditional methods, including a method using traffic flow theory and another method using occupancy by comparing the density values estimated using vehicular trajectory data generated from a radar detector. METHODS : In this study, a radar detector which can generate very accurate vehicular trajectory within the range of 250 m on the Joongbu expressway near to Dongseoul tollgate, where two VDS were already installed. The first task was to estimate densities using different data and methods. Thus, the density values were estimated using two traditional methods and the VDS data on the Joongbu expressway. The density values were compared with those estimated using the vehicular trajectory data in order to evaluate the quality of density estimation. Then, the relationship between the space mean speed and density were drawn using two sets of densities and speeds based on the VDS data and one set of those using the radar detector data. CONCLUSIONS : As a result, the three sets of density showed minor differences when the density values were under 20 vehicles per km per lane. However, as the density values become greater than 20 vehicles per km per lane, the three methods showed a significant difference among on another. The density using the vehicular trajectory data showed the lowest values in general. Based on the in-depth study, it was found out that the space mean speed plays a critical role in the calculation of density. The speed estimated from the VDS data was higher than that from the radar detector. In order to validate the difference in the speed data, the traffic flow models using the relationships between the space mean speed and the density were carefully examined in this study. Conclusively, the traffic flow models generated using the radar data seems to be more realistic.

• 한국지능시스템학회논문지
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• 제13권1호
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• pp.76-84
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• 2003

요즈음에는 GPS 및 GIS을 기반으로, 운전자에게 최단 경로탐색 및 예상도착시간을 인터넷 및 휴대폰으로 검색할 수 있다. 그러나, 아무리 좋은 자동항법 장치도 평균차량속도가 10- 20 Km 일 때에는 최단경로를 생성할 수 없다. 그러므로 승용차대기시간과 평균차량속도를 개선하기 위해서, 서로 다른 교차로 길이 및 교차로 차선수 일 때에도, 퍼지 적응 규칙을 이용한 최적녹색시간 알고리즘을 제안한다. 본 논문에서는 인터넷을 이용해서 위험한 도로, 공사중인 도로 및 목적지 예상 도착시간 및 최적의 교통상황을 예보하는 기능을 제공할 수 있도록 하였다.

• 제어로봇시스템학회논문지
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• 제22권12호
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• pp.1046-1052
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• 2016

For the safe driving of autonomous vehicles, accurate position estimation is required. Generally, position error must be less than 1m because of lane keeping. However, GPS positioning error is more than 1m. Therefore, we must correct this error and a map matching algorithm is generally used. Especially, road marking intensity map have been used in many studies. In previous work, 3D LIDAR with many vertical layers was used to generate a local intensity map. Because it can be obtained sufficient longitudinal information for map matching. However, it is expensive and sufficient road marking information cannot be obtained in rush hour situations. In this paper, we propose a localization algorithm using an accumulated intensity local map. An accumulated intensity local map can be generated with sufficient longitudinal information using 3D LIDAR with a few vertical layers. Using this algorithm, we can also obtain sufficient intensity information in rush hour situations. Thus, it is possible to increase the reliability of the map matching and get accurate position estimation result. In the experimental result, the lateral RMS position error is about 0.12m and the longitudinal RMS error is about 0.19m.

• 한국도로학회논문집
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• 제16권1호
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• pp.57-62
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• 2014

PURPOSES : Capacity is a main factor of determining the number of lane in highway design or the level of service in road on operation. Previous studies showed that breakdown may occur before capacity is reached, and then it was concluded that capacity is a stochastic value rather than a deterministic one. In general, estimating capacity is based on average over maximum traffic volume observed for capacity state. This method includes the empirical distribution method(EDM) and would underestimate capacity. This study estimated existing empirical methods of estimating stochastic highway capacity. Among the studied methods are the product limit method(PLM) and the selected method(SM). METHODS : Speed and volume data were collected at three freeway bottleneck sites in Cheonan-Nonsan and West Sea Freeway. The data were grouped into a free-flow state or capacity state with speeds observed in the bottlenecks and the upstream. The data were applied to the empirical methods. RESULTS : The results show that the PLM and SM estimated capacity higher than EDM. The reason is that while the EDM is based on capacity observations only, the PLM and SM are based on free-flow high volumes and capacity observations. CONCLUSIONS : The PLM and SM using both free-flow and capacity observations would be improved to enhance the reliability of the capacity estimation.

• 대한교통학회지
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• 제13권1호
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• pp.167-183
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• 1995

The objective of study is to evaluate highway capaicty estimation alternative and to develop capacity from statistical distribution of observed traffic flow. Speed-Volume relation is analyzed from vehicle's headway distribution eliminating the long headway by confidence intervals 99%, 95%, 90%. Capacity estimate alternatives were evaluated from 95% , 90%, 85% level of cummulative distribution of observed hourly traffic flow adjusted to confidence intervals. The result of investigation revealed that maximum hourly rate of flow is 2, 130pcu at confidence interval of 995, 2, 233pcu at 95%, 2, 315pcu at 90% respectively. Compared to the capacity of 2, 200pcu per hour per lane used in HCM and KHCM(Korea Highway Capacity Manual), capa챠y appears to correspond to confidence interval of 95%. Using the traffic flow rate at confidence interval of 95% the maximum hourly flow rate is 2, 187pcu at 95% of cummulative volume distribution, 2, 153pcu at 90%, 2, 215pcu at 85%. The study suggests that raional capacity esimation alternative is to take the 95% of cummulative distribution of observed hourly traffic flow at 95% confidence headway interval eliminating 5% long headway.(i.e. 95-95 rule)

• 대한교통학회지
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• 제16권1호
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• pp.111-128
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• 1998

양방향 2차로에서 지체는 교통사고유발이나 운전자에게 심리적부담을 주는 중용한 문제이다. 그 러나 이지체현상중 지체시간산정에 대한 연구는 많지 않다. 본 연구에서는 일반적으로 사용할수 있는 지체시간산정모형(PDEM)을 개발했다. 우선적으로 감가속이 일어나지 않은 곡선부에 적용할 수 있는 모 형을 고려했다. 검증은 기존에 제시되었던 Morrall 모형, TWOPAS모형과 비교하여 개선한 효과를 제시 하는 방법과 모형의 변수들을 변화시킬 때 모형의 값이 합리적으로 변하는지를 살펴보는 민감도분석방 법을 이용했다. 본 연구에서 갤발한 모형에 덧붙여 앞으로 연구해야 할 과제는 감가속과 추월을 고려한 경우의 모형개발과 본 모형에서 계산한 값을 서비스수준지표로 사용하는 방법에 대한 모색이다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.696-701
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• 2004

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion, have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• Journal of Mechanical Science and Technology
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• 제19권9호
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• pp.1742-1752
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• 2005

This paper presents a Multiple Target Tracking (MTT) Adaptive Cruise Control (ACC) system which consists of three parts; a multi-model-based multi-target state estimator, a primary vehicular target determination algorithm, and a single-target adaptive cruise control algorithm. Three motion models, which are validated using simulated and experimental data, are adopted to distinguish large lateral motions from longitudinally excited motions. The improvement in the state estimation performance when using three models is verified in target tracking simulations. However, the performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. The MTT-ACC system is tested under lane changing situations to examine how much the system performance is improved when multiple models are incorporated. Simulation results show system response that is more realistic and reflective of actual human driving behavior.